forked from Archive/PX4-Autopilot
mc_pos_control: fix acc Z sign
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@ -481,7 +481,7 @@ MulticopterPositionControl::set_vehicle_states(const float &vel_sp_z)
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_states.velocity(2) = _local_pos.z_deriv * weighting + _local_pos.vz * (1.0f - weighting);
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}
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_states.acceleration(2) = _vel_z_deriv.update(-_states.velocity(2));
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_states.acceleration(2) = _vel_z_deriv.update(_states.velocity(2));
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} else {
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_states.velocity(2) = _states.acceleration(2) = NAN;
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